/*=========================================================================
 *
 *  Copyright UMC Utrecht and contributors
 *
 *  Licensed under the Apache License, Version 2.0 (the "License");
 *  you may not use this file except in compliance with the License.
 *  You may obtain a copy of the License at
 *
 *        http://www.apache.org/licenses/LICENSE-2.0.txt
 *
 *  Unless required by applicable law or agreed to in writing, software
 *  distributed under the License is distributed on an "AS IS" BASIS,
 *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 *  See the License for the specific language governing permissions and
 *  limitations under the License.
 *
 *=========================================================================*/
/*=========================================================================

  Program:   Insight Segmentation & Registration Toolkit
  Module:    $RCSfile: itkAdvancedSimilarity3DTransform.h,v $
  Language:  C++
  Date:      $Date: 2006-08-09 04:35:32 $
  Version:   $Revision: 1.3 $

  Copyright (c) Insight Software Consortium. All rights reserved.
  See ITKCopyright.txt or http://www.itk.org/HTML/Copyright.htm for details.

     This software is distributed WITHOUT ANY WARRANTY; without even
     the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
     PURPOSE.  See the above copyright notices for more information.

=========================================================================*/
#ifndef __itkAdvancedSimilarity3DTransform_h
#define __itkAdvancedSimilarity3DTransform_h

#include <iostream>
#include "itkAdvancedVersorRigid3DTransform.h"

namespace itk
{

/** \brief AdvancedSimilarity3DTransform of a vector space (e.g. space coordinates)
 *
 * This transform applies a rotation, translation and isotropic scaling to the space.
 *
 * The parameters for this transform can be set either using individual Set
 * methods or in serialized form using SetParameters() and SetFixedParameters().
 *
 * The serialization of the optimizable parameters is an array of 7 elements.
 * The first 3 elements are the components of the versor representation
 * of 3D rotation. The next 3 parameters defines the translation in each
 * dimension. The last parameter defines the isotropic scaling.
 *
 * The serialization of the fixed parameters is an array of 3 elements defining
 * the center of rotation.
 *
 * \ingroup Transforms
 *
 * \sa VersorRigid3DTransform
 */
template< class TScalarType = double >
// Data type for scalars (float or double)
class ITK_EXPORT AdvancedSimilarity3DTransform :
  public         AdvancedVersorRigid3DTransform< TScalarType >
{
public:

  /** Standard class typedefs. */
  typedef AdvancedSimilarity3DTransform                 Self;
  typedef AdvancedVersorRigid3DTransform< TScalarType > Superclass;
  typedef SmartPointer< Self >                          Pointer;
  typedef SmartPointer< const Self >                    ConstPointer;

  /** New macro for creation of through a Smart Pointer. */
  itkNewMacro( Self );

  /** Run-time type information (and related methods). */
  itkTypeMacro( AdvancedSimilarity3DTransform, AdvancedVersorRigid3DTransform );

  /** Dimension of parameters. */
  itkStaticConstMacro( SpaceDimension, unsigned int, 3 );
  itkStaticConstMacro( InputSpaceDimension, unsigned int, 3 );
  itkStaticConstMacro( OutputSpaceDimension, unsigned int, 3 );
  itkStaticConstMacro( ParametersDimension, unsigned int, 7 );

  /** Parameters Type   */
  typedef typename Superclass::ParametersType         ParametersType;
  typedef typename Superclass::NumberOfParametersType NumberOfParametersType;
  typedef typename Superclass::JacobianType           JacobianType;
  typedef typename Superclass::ScalarType             ScalarType;
  typedef typename Superclass::InputPointType         InputPointType;
  typedef typename Superclass::OutputPointType        OutputPointType;
  typedef typename Superclass::InputVectorType        InputVectorType;
  typedef typename Superclass::OutputVectorType       OutputVectorType;
  typedef typename Superclass::InputVnlVectorType     InputVnlVectorType;
  typedef typename Superclass::OutputVnlVectorType    OutputVnlVectorType;
  typedef typename Superclass::InputCovariantVectorType
    InputCovariantVectorType;
  typedef typename Superclass::OutputCovariantVectorType
    OutputCovariantVectorType;
  typedef typename Superclass::MatrixType        MatrixType;
  typedef typename Superclass::InverseMatrixType InverseMatrixType;
  typedef typename Superclass::CenterType        CenterType;
  typedef typename Superclass::OffsetType        OffsetType;
  typedef typename Superclass::TranslationType   TranslationType;

  /** Versor type. */
  typedef typename Superclass::VersorType VersorType;
  typedef typename Superclass::AxisType   AxisType;
  typedef typename Superclass::AngleType  AngleType;
  typedef          TScalarType            ScaleType;

  typedef typename Superclass
    ::NonZeroJacobianIndicesType NonZeroJacobianIndicesType;
  typedef typename Superclass::SpatialJacobianType SpatialJacobianType;
  typedef typename Superclass
    ::JacobianOfSpatialJacobianType JacobianOfSpatialJacobianType;
  typedef typename Superclass::SpatialHessianType SpatialHessianType;
  typedef typename Superclass
    ::JacobianOfSpatialHessianType JacobianOfSpatialHessianType;
  typedef typename Superclass::InternalMatrixType InternalMatrixType;

  /** Directly set the rotation matrix of the transform.
   * \warning The input matrix must be orthogonal with isotropic scaling
   * to within a specified tolerance, else an exception is thrown.
   *
   * \sa MatrixOffsetTransformBase::SetMatrix() */
  void SetMatrix( const MatrixType & matrix ) override;

  /** Set the transformation from a container of parameters This is typically
   * used by optimizers.  There are 7 parameters. The first three represent the
   * versor, the next three represent the translation and the last one
   * represents the scaling factor. */
  void SetParameters( const ParametersType & parameters ) override;

  const ParametersType & GetParameters( void ) const override;

  /** Set/Get the value of the isotropic scaling factor */
  void SetScale( ScaleType scale );

  itkGetConstReferenceMacro( Scale, ScaleType );

  /** This method computes the Jacobian matrix of the transformation. */
  void GetJacobian(
    const InputPointType &,
    JacobianType &,
    NonZeroJacobianIndicesType & ) const override;

protected:

  AdvancedSimilarity3DTransform( unsigned int outputSpaceDim,
    unsigned int paramDim );
  AdvancedSimilarity3DTransform( const MatrixType & matrix,
    const OutputVectorType & offset );
  AdvancedSimilarity3DTransform();
  ~AdvancedSimilarity3DTransform(){}

  void PrintSelf( std::ostream & os, Indent indent ) const override;

  /** Recomputes the matrix by calling the Superclass::ComputeMatrix() and then
   * applying the scale factor. */
  void ComputeMatrix() override;

  /** Computes the parameters from an input matrix. */
  void ComputeMatrixParameters() override;

  /** Update the m_JacobianOfSpatialJacobian.  */
  virtual void PrecomputeJacobianOfSpatialJacobian( void );

private:

  AdvancedSimilarity3DTransform( const Self & ); //purposely not implemented
  void operator=( const Self & );                //purposely not implemented

  ScaleType m_Scale;

};

//class AdvancedSimilarity3DTransform

}  // namespace itk

#ifndef ITK_MANUAL_INSTANTIATION
#include "itkAdvancedSimilarity3DTransform.hxx"
#endif

#endif /* __itkAdvancedSimilarity3DTransform_h */
